import numpy as np


OUTPUT_NAME = 'output.csv'
EXPAND_DISTANCE = 0.2
LOCAL_GRAPH = {     # 决赛物料信息
    1:[[0,0], [50,0], [50,20], [0, 20]],
    2:[[0,0], [60,0], [60,20], [0, 20]],
    3:[[0,0], [50,0], [50,30], [0, 30]],
    4:[[0,0], [30,0], [30,30], [0, 30]],
    5:[[0,0], [40,0], [40,40], [0, 40]],
    6:[[0,0], [40,0], [40,30], [0, 30]],

    7:[[0,0], [56,0], [24,40]],
    8:[[0,0], [48,0], [80,32]],
    9:[[0,0], [60,0], [25,25]],
    10:[[0,0], [70,0], [35,20]],
    11:[[0,0], [40,0], [0,40]],
    12:[[0,0], [60,0], [15,30]],
}
LOCAL_GRAPH_CORE = {    # 决赛物料中心和抓取中心
    1: [[25, 10], [25, 10]],
    2: [[30, 10], [30, 10]],
    3: [[25, 15], [25, 15]],
    4: [[15, 15], [15, 15]],
    5: [[20, 20], [20, 20]],
    6: [[20, 15], [20, 15]],

    7: [[26.67, 13.33], [27, 10]],
    8: [[42.67, 10.67], [42.67, 10.67]],
    9: [[28.33, 8.33], [27.6, 6.2]],
    10: [[35, 6.67], [35, 5.8]],
    11: [[13.33, 13.33], [15, 15.2]],
    12: [[25, 10], [23, 8.2]],
}
for i in LOCAL_GRAPH.keys():    # 物料信息避免用数组直接存放
    LOCAL_GRAPH[i] = np.array(LOCAL_GRAPH[i])
    LOCAL_GRAPH_CORE[i] = np.array(LOCAL_GRAPH_CORE[i])